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WMM module updated to 2025 data (#3456)

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OpenUAS
2025-05-20 18:26:22 +02:00
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parent 4ee8e5e1b9
commit b6d1ca99ab
5 changed files with 37 additions and 37 deletions
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conf/modules/geo_mag.xml
+2 -2
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@@ -11,7 +11,7 @@
Method uses is based on the the ngdc noaa DODWMM model and data (http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml).
The WMM is based on earth magnetic field measuring at an high number of sites on the whole globe and on its mathematical representation through a series of characteristic values listed in a file (WMM.COF) which has a five-year validity.
The autopilot used data derived from this file to make the complex calculation of declination.
Every 5 years (2015, 2020) an updated geomagnetic model is released and datatables in the code must be updated accordingly for more accurate flight.
Every 5 years (2015, 2020, 2025) an updated geomagnetic model is released and datatables in the code must be updated accordingly for more accurate flight.
</description>
</doc>
<settings>
@@ -29,7 +29,7 @@
<event fun="geo_mag_event()"/>
<makefile target="ap|nps">
<file name="geo_mag.c"/>
<file name="pprz_geodetic_wmm2020.c" dir="math"/>
<file name="pprz_geodetic_wmm2025.c" dir="math"/>
</makefile>
<makefile target="nps">
<define name="NPS_CALC_GEO_MAG"/>
conf/modules/targets/nps_common.xml
+1 -1
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@@ -62,7 +62,7 @@ VPATH += $(PAPARAZZI_HOME)/var/share
<file name="nps_ivy.c" dir="$(NPS_DIR)"/>
<file name="nps_flightgear.c" dir="$(NPS_DIR)"/>
<file name="nps_random.c" dir="$(NPS_DIR)"/>
<file name="pprz_geodetic_wmm2020.c" dir="math"/>
<file name="pprz_geodetic_wmm2025.c" dir="math"/>
<file name="nps_main_common.c" dir="$(NPS_DIR)"/>
</makefile>
</module>
sw/airborne/math/pprz_geodetic_wmm2020.c → sw/airborne/math/pprz_geodetic_wmm2025.c
+31 -31
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@@ -1,6 +1,6 @@
/*
* Copyright (C) 2012 Sergey Krukowski <softsr@yahoo.de>
* Copyright (C) 2020 OpenUAS info@openuas.org>
* Copyright (C) 2025 OpenUAS info@openuas.org>
*
* This file is part of paparazzi.
*
@@ -20,45 +20,45 @@
*/
/**
* @file pprz_geodetic_wmm2020.c
* @brief WMM2020 Geomagnetic field model.
* @file pprz_geodetic_wmm2025.c
* @brief WMM2025 Geomagnetic field model.
*
* Based on the WMM2020 model (http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml)
* Based on the WMM2025 model (http://www.ngdc.noaa.gov/geomag/WMM/DoDWMM.shtml)
*/
#include "std.h"
#include "math/pprz_geodetic_wmm2020.h"
#include "math/pprz_geodetic_wmm2025.h"
const double gh1[MAXCOEFF] = {
//WMM 2020 data
0.0, -29404.5, -1450.7, 4652.9,
-2500.0, 2982.0, -2991.6, 1676.8, -734.8,
1363.9, -2381.0, -82.2, 1236.2, 241.8, 525.7, -542.9,
903.1, 809.4, 282.0, 86.2, -158.4, -309.4, 199.8, 47.9, -350.1,
-234.4, 363.1, 47.7, 187.8, 208.4, -140.7, -121.3, -151.2, 32.2, 13.7, 99.1,
65.9, 65.6, -19.1, 73.0, 25.0, -121.5, 52.7, -36.2, -64.4, 13.5, 9.0, -64.7, 68.1,
80.6, -76.8, -51.4, -8.3, -16.8, 56.5, 2.3, 15.8, 23.5, 6.4, -2.2, -7.2, -27.2, 9.8, -1.9,
23.6, 9.8, 8.4, -17.5, -15.3, -0.4, 12.8, -21.1, -11.8, 15.3, 14.9, 13.7, 3.6, -16.5, -6.9, -0.3, 2.8,
5.0, 8.2, -23.3, 2.9, 11.1, -1.4, 9.8, -1.1, -5.1, -13.3, -6.2, 1.1, 7.8, 8.9, 0.4, -9.3, -1.5, -11.9, 9.7,
-1.9, -6.2, 3.4, -0.1, -0.2, 1.7, 3.5, -0.9, 4.8, 0.6, -8.6, -0.9, -0.1, 1.9, -4.2, 1.4, -3.4, -2.4, -0.1, -3.9, -8.8,
3.0, -1.4, 0.0, -2.5, 2.6, 2.4, -0.5, -0.9, -0.4, 0.3, 0.6, -0.7, -0.2, -0.1, -1.7, 1.4, -1.6, -0.6, -3.0, 0.2, -2.0, 3.1, -2.6,
-2.0, -0.1, -1.2, 0.5, 0.5, 1.3, 1.3, -1.2, -1.8, 0.7, 0.1, 0.3, 0.7, 0.5, -0.1, -0.2, 0.6, -0.5, 0.2, 0.1, -0.9, -1.1, 0.0, -0.3, 0.5
//WMM 2025 data
0.0, -29351.8, -1410.8, 4545.4,
-2556.6, 2951.1, -3133.6, 1649.3, -815.1,
1361.0, -2404.1, -56.6, 1243.8, 237.5, 453.6, -549.5,
895.0, 799.5, 278.6, 55.7, -133.9, -281.1, 212.0, 12.1, -375.6,
-233.2, 368.9, 45.4, 187.2, 220.2, -138.7, -122.9, -142.0, 43.0, 20.9, 106.1,
64.4, 63.8, -18.4, 76.9, 16.8, -115.7, 48.8, -40.9, -59.8, 14.9, 10.9, -60.7, 72.7,
79.5, -77.0, -48.9, -8.8, -14.4, 59.3, -1.0, 15.8, 23.4, 2.5, -7.4, -11.1, -25.1, 14.2, -2.3,
23.2, 10.8, 7.1, -17.5 , -12.6, 2.0, 11.4, -21.7, -9.7, 16.9, 12.7, 15.0, 0.7, -16.8, -5.2, 0.9, 3.9,
4.6, 7.8, -24.8, 3.0, 12.2, -0.2, 8.3, -2.5, -3.3, -13.1, -5.2, 2.4, 7.2, 8.6, -0.6, -8.7, 0.8, -12.9, 10.0,
-1.3, -6.4, 3.3, 0.2, 0.0, 2.0, 2.4, -1.0, 5.3, -0.6, -9.1, -0.9, 0.4, 1.5, -4.2, 0.9, -3.8, -2.7, 0.9, -3.9, -9.1,
2.9, -1.5, 0.0, -2.5, 2.9, 2.4, -0.6, -0.6, 0.2, -0.1, 0.5, -0.6, -0.3, -0.1, -1.2, 1.1, -1.7, -1.0, -2.9, -0.2, -1.8, 2.6, -2.3,
-2.0, -0.2, -1.3, 0.3, 0.7, 1.2, 1.0, -1.3 , -1.4, 0.6, 0.0, 0.6, 0.6, 0.5, -0.1, -0.1, 0.8, -0.4, 0.1, -0.2, -1.0, -1.3, 0.1, -0.7, 0.2
};
const double gh2[MAXCOEFF] = {
//WMM 2020 data
0.0, 6.7, 7.7, -25.1,
-11.5, -7.1, -30.2, -2.2, -23.9,
2.8, -6.2, 5.7, 3.4, -1.0, -12.2, 1.1,
-1.1, -1.6, 0.2, -6.0, 6.9, 5.4, 3.7, -5.5, -5.6,
-0.3, 0.6, 0.1, -0.7, 2.5, 0.1, -0.9, 1.2, 3.0, 1.0, 0.5,
-0.6, -0.4, 0.1, 0.5, -1.8, 1.4, -1.4, -1.4, 0.9, 0.0, 0.1, 0.8, 1.0,
-0.1, -0.3, 0.5, -0.1, 0.6, 0.7, -0.7, 0.2, -0.2, -0.5, -1.2, -0.8, 0.2, 1.0, 0.3,
-0.1, 0.1, -0.3, -0.1, 0.7, 0.5, -0.2, -0.1, 0.5, 0.4, -0.3, 0.5, -0.5, 0.0, 0.4, 0.4, 0.1,
-0.1, -0.2, -0.3, 0.0, 0.2, 0.4, -0.4, -0.3, 0.4, 0.0, 0.1, 0.3, 0.0, 0.0, -0.2, 0.0, 0.5, -0.4, 0.2,
0.0, 0.0, 0.0, 0.0, 0.1, 0.2, -0.3, -0.1, 0.1, -0.2, -0.2, 0.0, 0.1, -0.1, 0.0, -0.2, -0.1, -0.1, 0.2, 0.0, 0.0,
0.0, -0.1, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.2, -0.1, 0.0, 0.0, 0.0, 0.0, 0.1, -0.1, 0.0, -0.1, -0.1, -0.1, 0.0, -0.1, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, -0.1
//WMM 2025 data
0.0, 12.0, 9.7, -21.5,
-11.6, -5.2, -27.7, -8.0, -12.1,
-1.3, -4.2, 4.0, 0.4, -0.3, -15.6, -4.1,
-1.6, -2.4, -1.1, -6.0, 4.1, 5.6, 1.6, -7.0, -4.4,
0.6, 1.4, -0.5, 0.0, 2.2, 0.6, 0.4, 2.2, 1.7, 0.9, 1.9,
-0.2, -0.4, 0.3, 0.9, -1.6, 1.2, -0.4, -0.9, 0.9, 0.3, 0.7, 0.9, 0.9,
0.0, -0.1, 0.6, -0.1, 0.5, 0.5, -0.8, -0.1, 0.0, -0.8, -1.0, -0.8, 0.6, 0.8, -0.2,
-0.1, 0.2, -0.2, 0.0, 0.5, 0.5, -0.4, -0.1, 0.4, 0.3, -0.5, 0.2, -0.6, 0.0, 0.3, 0.2, 0.2,
0.0, -0.1, -0.3, 0.1, 0.3, 0.3, -0.3, -0.3, 0.3, 0.0, 0.2, 0.3, -0.1, -0.1, -0.2, 0.1, 0.4, -0.1, 0.1,
0.1, 0.0, 0.0, 0.1, 0.0, 0.1, -0.2, 0.0, 0.1, -0.3, -0.1, 0.0, 0.1, -0.1, 0.0, -0.1, -0.1, 0.0, 0.2, 0.0, -0.0,
0.0, 0.0, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.1, -0.1, 0.0, 0.0, 0.0, 0.0, 0.1, -0.1, 0.0, -0.1, 0.0, -0.1, 0.0, -0.1, 0.0,
0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, 0.0, 0.1, 0.0, 0.0, 0.1, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, -0.1, 0.0, 0.0, 0.0, -0.1, -0.1
};
int16_t extrapsh(double date, double dte1, int16_t nmax1, int16_t nmax2, double *gh)
sw/airborne/math/pprz_geodetic_wmm2020.h → sw/airborne/math/pprz_geodetic_wmm2025.h
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sw/airborne/modules/geo_mag/geo_mag.c
+3 -3
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@@ -1,6 +1,6 @@
/*
* Copyright (C) 2012 Sergey Krukowski <softsr@yahoo.de>
* Copyright (C) 2020 OpenUAS <info@openuas.org>
* Copyright (C) 2025 OpenUAS <info@openuas.org>
*
* This file is part of paparazzi.
*
@@ -27,7 +27,7 @@
*/
#include "modules/geo_mag/geo_mag.h"
#include "math/pprz_geodetic_wmm2020.h"
#include "math/pprz_geodetic_wmm2025.h"
#include "math/pprz_algebra_double.h"
#include "modules/gps/gps.h"
#include "modules/core/abi.h"
@@ -62,7 +62,7 @@ void geo_mag_event(void)
double gha[MAXCOEFF]; // Geomag global variables
int32_t nmax;
/* Current date in decimal year, for example 2015.68 */
/* Current date in decimal year, for example 2025.68 */
double sdate = GPS_EPOCH_BEGIN +
(double)gps.week / WEEKS_IN_YEAR +
(double)gps.tow / 1000 / SECS_IN_YEAR;